WO2022123782A1 - Système de transport - Google Patents

Système de transport Download PDF

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Publication number
WO2022123782A1
WO2022123782A1 PCT/JP2020/046343 JP2020046343W WO2022123782A1 WO 2022123782 A1 WO2022123782 A1 WO 2022123782A1 JP 2020046343 W JP2020046343 W JP 2020046343W WO 2022123782 A1 WO2022123782 A1 WO 2022123782A1
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WO
WIPO (PCT)
Prior art keywords
autonomous transfer
transfer robot
autonomous
shaft member
carriage
Prior art date
Application number
PCT/JP2020/046343
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English (en)
Japanese (ja)
Inventor
西原重善
金剛光洙
牧岳二
Original Assignee
株式会社大気社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社大気社 filed Critical 株式会社大気社
Priority to JP2020569915A priority Critical patent/JP6991372B1/ja
Priority to PCT/JP2020/046343 priority patent/WO2022123782A1/fr
Publication of WO2022123782A1 publication Critical patent/WO2022123782A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines

Definitions

  • the present invention relates to a transport system, and more particularly to a transport system suitable for transporting a vehicle body.
  • a transport device having a track when transporting the car body between a plurality of processes.
  • a conveyor device such as a friction conveyor, an overhead conveyor, and a floor conveyor is typical.
  • a transport device having a track as exemplified above it is difficult to change the order of the processes because the transport path of the vehicle body is predetermined.
  • Patent Document 1 discloses an unmanned transport system including a plurality of automatic guided vehicles for transporting a vehicle body. According to the invention of Patent Document 1, since a plurality of transport carts can move independently of each other by an arbitrary route, it is easy to change the order of processes. Further, US Patent Application Publication No. 2020/0164937 (Patent Document 2) discloses a self-propelled carrier that operates in a temporary storage place for a vehicle body.
  • Patent Document 1 and Patent Document 2 a transport device having a plan view dimension close to the plan view dimension of the vehicle body to be transported was used. Therefore, in order for the transport device to travel, it is necessary to secure a passage that allows the vehicle body to travel. In addition, it was necessary to secure a considerable area for storing the transport device. That is, in the conventional technique, there is a possibility that the area required for operating the system becomes excessive.
  • the transport system according to the present invention includes a bogie on which a vehicle body can be mounted and at least two autonomous transport robots that can be coupled to the bogie, and the bogie and the two autonomous transport robots are combined. It is characterized in that the dolly and the autonomous transfer robot can travel together by the driving force of the autonomous transfer robot.
  • two autonomous transfer robots can be combined with a bogie on which one vehicle body is mounted, so the dimensions and output per autonomous transfer robot are reduced compared to the conventional technology. It can be done. As a result, the area required for operating the system can be reduced as compared with the conventional technique.
  • the transfer system according to the present invention further includes a control device capable of controlling the travel of the autonomous transfer robot, and the control device includes a route setting function for setting an assumed route on which the trolley should travel, and the control device. It is preferable to include a running control function for controlling the running of each of the two autonomous transfer robots coupled to the bogie so that the bogie travels on the assumed route, and a computer capable of executing the running control function.
  • the autonomous transfer robot autonomously sets the assumed route and controls its own traveling so as to travel on the assumed route, so that the transportation of the vehicle body can be highly automated.
  • the autonomous transfer robot has a speedometer capable of detecting its own traveling speed, and when it is coupled to the trolley, its own traveling direction and the trolley. It has an angle meter capable of detecting an angle formed by a longitudinal direction, and the control device can further execute an acquisition function for acquiring the traveling speed and the angle, and the traveling control function includes. Based on the angle acquired for each of the two autonomous transfer robots, the center identification process for specifying the rotation center of the trolley at the moment when the angle is acquired and the center identification process for each of the two autonomous transfer robots are described. The traveling speed of each of the two autonomous transfer robots is controlled based on the radius specifying process for specifying the distance from the rotation center and the distance from the rotation center related to each of the two autonomous transfer robots. It is preferable to execute the speed control process.
  • control of the two autonomous transfer robots is performed cooperatively, so that the followability to the assumed route can be improved.
  • the autonomous transfer robot has a shaft member
  • the trolley has a bearing member capable of receiving the shaft member
  • the trolley and the autonomous transfer robot The coupling is preferably realized by accommodating the shaft member in the bearing member.
  • the coupling and disconnection of the dolly and the autonomous transfer robot can be realized by a relatively simple structure.
  • the bearing member can rotatably accommodate the shaft member.
  • the autonomous transfer robot can be rotatably coupled to the dolly.
  • the dolly can be freely moved back and forth and left and right.
  • the carriage further includes a wheel and a brake capable of braking the wheel, and the braker is when the shaft member is housed in the bearing member.
  • the braker is when the shaft member is housed in the bearing member.
  • the movement of the dolly is restricted when the autonomous transfer robot is not connected to the dolly, so that the dolly that is not scheduled to move is prevented from moving unexpectedly.
  • the transport system 1 includes a carriage 2 and an autonomous transport robot 3 (FIGS. 1 and 2).
  • a plurality of carts 2 and a plurality of autonomous transfer robots 3 exist in the premises of the painting factory. It should be noted that each of the plurality of carriages 2 has the same configuration as each other, and each of the plurality of autonomous transfer robots 3 also has the same configuration as each other.
  • the bogie 2 is a bogie on which the vehicle body B can be placed.
  • the bogie 2 can brake the frame 21 on which the vehicle body B can be placed, the middle rail 22 extending along the lateral direction of the frame 21, the wheels 23 provided under the middle rail 22, and the wheels 23.
  • It has a brake 24 and a bearing member 25 capable of accommodating the shaft member 331 of the autonomous transfer robot 3 (FIGS. 2 to 4).
  • Two bearing members 25 are provided in response to the fact that two autonomous transfer robots 3 can be coupled to one carriage 2.
  • the frame 21 has a substantially rectangular planar shape corresponding to the shape of the vehicle body B, and has strength and rigidity capable of supporting the vehicle body B.
  • the side of the plane surface of the frame 21 on which the vehicle body B is placed is referred to as "upper”, and the opposite side of the plane is referred to as “lower”.
  • the vertical direction according to this definition is defined as “vertical direction”, and the direction orthogonal to the vertical direction is defined as “horizontal direction”.
  • the middle rail 22 is provided under the frame 21, and the wheels 23 are provided under the middle rail 22.
  • the bogie 2 is supported by the center rail 22 and the wheels 23. Since the total height dimension of the center rail 22 and the wheel 23 is larger than the height dimension of the autonomous transfer robot 3, the autonomous transfer robot 3 can enter the space formed under the frame 21.
  • the wheel 23 has known casters pivotally supported under the center rail 22, and is rotatable in the horizontal direction. As a result, the traveling of the carriage 2 is not restricted in the horizontal direction.
  • the brake 24 includes a braking rod 241 extending in the vertical direction, a braking plate 242 provided at the tip (lower end) of the braking rod 241 and an interlocking mechanism 243 for moving the braking rod 241 up and down (FIG. 3, FIG. FIG. 4).
  • the braking rod 241 penetrates the support member provided on the frame 21.
  • the brake 24 is provided close to one of the two bearing members 25 and operates in conjunction with the bearing member 25.
  • the interlocking mechanism 243 includes a pin 243a, a first rod-shaped member 243b, a first support member 243c, a second rod-shaped member 243d, a second support member 243e, and a spring member 243f (FIGS. 3 and 4).
  • a connection portion connecting two of the pin 243a, the first rod-shaped member 243b, the first support member 243c, the second rod-shaped member 243d, the second support member 243e, and the braking rod 241 (existing at five locations in FIG. 3). ) Are all rotatable.
  • the spring member 243f urges the connecting portion 243g between the first rod-shaped member 243b and the second rod-shaped member 243d upward.
  • the pin 243a penetrates the hole provided in the frame 21 and reaches the bearing member 25.
  • the bearing member 25 has a through hole portion capable of receiving the shaft member 331 and the pin 243a, and can rotatably accommodate the shaft member 331 of the autonomous transfer robot 3.
  • the shaft member 331 is configured to be accommodated via a known bearing component such as a ball bearing, and the shaft member 331 becomes rotatable by the action of the bearing component.
  • the bearing member 25 has a centering device (not shown) for aligning the position of the received shaft member 331 with the center of the through hole portion.
  • a centering device can be mounted, for example, as a circumferentially arranged elastic body (spring, rubber, etc.).
  • the connection portion 243g between the first rod-shaped member 243b and the second rod-shaped member 243d is arranged at the upper position by the action of the spring member 243f. (Fig. 3).
  • the second rod-shaped member 243d is rotatably supported by the second support member 243e, the end portion of the second rod-shaped member 243d opposite to the connecting portion 243g is urged downward. Therefore, the braking rod 241 connected to the opposite end is urged downward, and the braking plate 242 is urged downward while being in contact with the ground contact surface. At this time, the wheel 23 is braked by the frictional force acting between the braking plate 242 and the ground contact surface.
  • the braking release posture of the brake device 24 will be described.
  • the tip (upper end) of the shaft member 331 abuts on the pin 243a inside the bearing member 25, and the pin 243a is pushed upward (FIG. FIG. 4).
  • the connecting portion between the pin 243a and the first rod-shaped member 243b is pushed upward.
  • the connecting portion 243g which is the end portion of the first rod-shaped member 243b on the opposite side to the connecting portion, is the spring member 243f. It is urged downward against the urging force of. Therefore, contrary to the explanation in the previous paragraph, the braking rod 241 is urged upward and the braking plate 242 is separated from the ground plane. As a result, the braking of the wheel 23 is released.
  • the brake 24 is configured to take a posture that does not brake the wheels 23 (braking release posture) when the shaft member 331 of the autonomous transfer robot 3 is housed in the bearing member 25.
  • the braker 24 takes a braking release posture and the carriage 2 can be driven.
  • the brake 24 takes a braking posture, so that the wheels 23 are braked and the carriage 2 cannot be driven. This prevents the dolly 2 that is not scheduled to move from moving unexpectedly.
  • the autonomous transfer robot 3 includes two drive devices 31, casters 32, a shaft member unit 33, an instrument unit 34, a control device 35, a battery 36, and a housing 37 for accommodating these (FIG. FIG. 5, Fig. 6).
  • the drive device 31, the shaft member unit 33, the instrument unit 34, and the control device 35 are driven by receiving power supplied from the battery 36.
  • the caster 32 is a non-driving wheel provided on the rear side of the housing 37.
  • the side where the control device 35 is provided is referred to as "front”
  • the side where the caster 32 is provided is referred to as "rear”.
  • the occupied area of the autonomous transfer robot 3 in the painting factory where the transfer system 1 is used (that is, the area in the plan view of the outer shape of the autonomous transfer robot 3) is the occupied area of the trolley 2 (that is, the area in the plan view of the outer shape of the trolley 2). Area) is small enough. Specifically, the occupied area of the autonomous transfer robot 3 is preferably smaller than half of the occupied area of the carriage 2. Since the occupied area of the autonomous transfer robot 3 is sufficiently smaller than the occupied area of the trolley 2, the autonomous transfer robot 3 can make a small turn when the trolley 2 and the autonomous transfer robot 3 are connected, and the autonomous transfer robot 3 stands by. The required site area can be reduced. Further, the autonomous transfer robot 3 can enter the space formed under the carriage 2 (frame 21) from anywhere in the front, rear, left and right of the carriage 2.
  • the drive device 31 has a structure in which one drive wheel 312 is attached to the rotating shaft of the motor 311.
  • the two drive devices 31 (31a, 31b) can operate independently of each other. For example, when the motor 311a is operated so that the drive wheels 312a rotate in the forward direction and the motor 311b is operated so that the drive wheels 312b rotate in the backward direction, the autonomous transfer robot 3 rotates on the spot. As described above, since the two drive devices 31 can operate independently, the autonomous transfer robot 3 can freely travel back and forth and left and right.
  • the shaft member unit 33 includes a shaft member 331 that can be coupled to the bearing member 25 of the carriage 2 and a motor 332 that can move the shaft member 331 up and down. By the action of the motor 332, the shaft member unit 33 can change its posture over a protruding posture in which the shaft member 331 is protruding (FIG. 4) and a retired posture in which the shaft member 331 is retired (FIG. 3). ..
  • the shaft member 331 can be accommodated in the bearing member 25 of the carriage 2.
  • the shaft member unit 33 takes a retired posture, the shaft member 331 does not interfere with the bearing member 25 of the carriage 2, so that the autonomous transfer robot 3 can freely travel under the frame 21 of the carriage 2.
  • the shaft member 331 is rotatably housed in the bearing member 25, the rotary motion around the shaft member 331 of the autonomous transfer robot 3 in a state where the carriage 2 and the autonomous transfer robot 3 are coupled to each other. Is not restricted. As a result, the direction in which the carriage 2 travels can be freely changed in a state where the carriage 2 and the autonomous transfer robot 3 are coupled.
  • the instrument unit 34 includes a speedometer 341, an angle meter 342, and a camera 343.
  • the speedometer 341 can detect the traveling speed of the autonomous transfer robot 3.
  • the angle meter 342 can detect the angle of the angle between the traveling direction of the autonomous transport robot 3 and the longitudinal direction of the carriage 2 when the autonomous transfer robot 3 is coupled to the carriage 2.
  • the camera 343 can capture an image of the surroundings of the autonomous transfer robot 3.
  • the control device 35 is mounted as a known computer and is electrically connected to two drive devices 31, a shaft member unit 33, and an instrument unit 34. Further, the control device 35 has a wireless communication device (not shown), and can communicate with each other between the control devices 35 mounted on different autonomous transfer robots 3, and a user terminal (not shown) or the like. Input from other computers can be accepted.
  • the battery 36 As the battery 36, a known battery can be used. Charging of the battery 36 can be performed by connecting a power supply station (not shown) provided in the painting factory to the autonomous transfer robot 3. In the transfer system 1 according to the present embodiment, the size of the autonomous transfer robot 3 is smaller than that of the conventional technique, so that the scale of the power supply station can be reduced.
  • the method of supplying power to the battery 36 may be a contact type or a non-contact type.
  • the control device 35 can execute an acquisition function for acquiring various information detected by the instrument unit 34. Specifically, the control device 35 has a traveling speed of the autonomous transfer robot 3 detected by the speedometer 341, an angle of an angle formed by the traveling direction of the autonomous transfer robot 3 detected by the angle meter 342 and the longitudinal direction of the carriage 2. And the image around the autonomous transfer robot 3 taken by the camera 343 can be acquired.
  • the control device 35 can execute a route setting function for setting an assumed route on which the carriage 2 should travel.
  • a route setting function for setting an assumed route on which the carriage 2 should travel.
  • various information such as the departure point and destination input from the user terminal (not shown), the image around the autonomous transfer robot 3 taken by the camera 343, and the dimensions of the vehicle body B are taken into consideration. Will be done.
  • Travel control function The control device 35 can execute a travel control function for controlling the travel of the autonomous transfer robot 3 coupled to the carriage 2 so that the carriage 2 travels on the above assumed route.
  • the control device 35 mounted on each autonomous transport robot 3 controls the running of the autonomous transport robot 3 mounted on the robot 3, and two autonomous transport robots connected to the same carriage 2.
  • Control in which the robot 3 cooperates is also performed. More specifically, the rotation direction and rotation speed of the respective motors 311 (311a, 311b) of the two drive devices 31 (31a, 31b) are controlled so that the carriage 2 travels on the assumed route.
  • obstacles are avoided based on the image taken by the camera 343, and the operation of the motor 311 is feedback-controlled based on the traveling speed detected by the speedometer 341 and the angle detected by the angle meter 342. You may.
  • the control is performed based on the following concept.
  • the angle ⁇ 1 between the traveling direction of the autonomous transfer robot 3A on the front side and the longitudinal direction of the trolley 2 and the traveling direction of the autonomous transfer robot 3B on the rear side It is different from the angle ⁇ 2 between the dolly 2 and the longitudinal direction of the dolly 2 (FIG. 7). Therefore, the straight line orthogonal to the traveling direction of the autonomous transfer robot 3A on the front side and the straight line orthogonal to the traveling direction of the autonomous transfer robot 3B on the rear side have an intersection point O.
  • the ratio R1 / R2 of the distance R1 between the intersection O and the autonomous transfer robot 3A on the front side and the distance R2 between the intersection O and the autonomous transfer robot 3B on the rear side is the traveling of the autonomous transfer robot 3A on the front side.
  • the ratio of the speed V1 to the traveling speed V2 of the autonomous transfer robot 3B on the rear side is equal to V1 / V2
  • the trolley 2 travels along an arc centered on the intersection O.
  • control device 35 of the two autonomous transfer robots 3A and 3B coupled to one trolley 2, the control device 35A of the autonomous transfer robot 3A on the front side mainly performs the processing related to control, and the autonomous transfer on the rear side.
  • the control device 35B of the transfer robot 3B will be described as acting as an auxiliary.
  • control devices 35A and 35B acquire the angles ⁇ 1 and ⁇ 2, respectively.
  • the control device 35B transmits the angle ⁇ 2 to the control device 35A via the wireless communication device.
  • control device 35A identifies the position of the intersection O based on the angles ⁇ 1 and ⁇ 2 (center identification process), and transmits this to the control device 35B.
  • the control devices 35A and 35B specify the distances R1 and R2, respectively, based on the position of the intersection O (radius specifying process).
  • the control device 35B transmits the distance R2 to the control device 35A via the wireless communication device.
  • the control device 35A determines the traveling speed ratio V1 / V2 based on the distances R1 and R2, and determines the traveling speeds V1 and V2 of the two autonomous transfer robots 3A and 3B based on this.
  • the absolute value of the traveling speed is determined by conditions such as a predetermined upper limit value for the traveling speed, the specifications of the drive device 31, and the weight of the vehicle body B mounted on the bogie 2.
  • the determined traveling speed V2 is transmitted to the control device 35B via the wireless communication device.
  • control devices 35A and 35B control the drive devices 31 of the autonomous transfer robots 3A and 3B to which they belong based on the determined traveling speeds V1 and V2 (speed control process). At this time, the control devices 35A and 35B perform feedback control of the drive device 31 based on the traveling speed acquired by the speedometer 341.
  • the rotation speed of the drive device 31 (motor 332) is adjusted. For example, if the actual travel route deviates from the outside of the curve of the assumed route, the rotation speed of the motor 332 located outside the curve is increased, and the rotation speed of the motor 332 located inside the curve is increased. Lower.
  • the rotation speed of each motor 332 in this way, the traveling path of the bogie 2 can be corrected inward in the curve of the path traveled up to the change.
  • the average value of the rotation speeds of the two motors 332 outside and inside the curve maintains the rotation speeds corresponding to the traveling speeds V1 and V2. By doing so, it is possible to correct only the traveling route of the carriage 2 while maintaining the traveling speeds V1 and V2.
  • the control device 35 can drive the autonomous transfer robot 3 which is not connected to the bogie 2 to a position where it can be connected to the bogie 2 and execute a joining function to connect the bogie 2.
  • the control device 35 causes the autonomous transfer robot 3, which is not coupled to the carriage 2, to travel to the lower part of the carriage 2 to be coupled.
  • the shaft member unit 33 is in the retired posture.
  • the control device 35 adjusts the position of the autonomous transfer robot 3 so that the shaft member unit 33 of the autonomous transfer robot 3 is located directly under the bearing member 25 of the carriage 2.
  • the control device 35 changes the posture of the shaft member unit 33 from the retired posture to the protruding posture.
  • the position of the shaft member 331 is aligned with the center of the through hole portion of the bearing member 25 by the function of the centering device of the bearing member 25.
  • the control device 35 can execute the decoupling function of the autonomous transfer robot 3 coupled to the trolley 2 to disengage the coupling with the trolley 2.
  • the control device 35 changes the posture of the shaft member unit 33 of the autonomous transfer robot 3 coupled to the carriage 2 from the protruding posture to the retired posture. As a result, the connection between the carriage 2 and the autonomous transfer robot 3 is released.
  • the coupling function may be subsequently executed for the autonomous transfer robot 3 whose coupling has been released, and the autonomous transfer robot 3 starts traveling toward the trolley 2 scheduled to be conveyed next. If the dolly 2 to be transported next does not exist, the autonomous transport robot 3 is driven to the standby position.
  • the autonomous transfer robot 3 can be coupled to the bogie 2 in such a manner that it is completely accommodated in the space under the frame 21. Therefore, an open space for connecting to the autonomous transfer robot 3 is not required around the carriage 2. As a result, the vehicle body B mounted on the carriage 2 can be integrated at a high density in the painting factory (FIG. 8).
  • the transfer of the vehicle body B in the painting factory can be performed in combination with the transfer using the transfer system 1 and the transfer using the conventional conveyor type device (FIG. 9).
  • the friction conveyor C transports the vehicle body B together with the trolley 2, transports the trolley 2 to the friction conveyor C, and transports the trolley 2 to the friction conveyor.
  • the autonomous transfer robot 3 is responsible for the transfer after being picked up from C. In this configuration, the time that the autonomous transfer robot 3 stays in the painting booth can be eliminated or reduced, so that the paint can be suppressed from adhering to the autonomous transfer robot 3.
  • the number of autonomous transfer robots 3 operating in the painting factory can be reduced.
  • each autonomous transfer robot 3 has a control device 35
  • the control device is not necessarily provided individually for each autonomous transfer robot.
  • it is configured to be equipped with one control device that can collectively control all the autonomous transfer robots that make up the transfer system, and the autonomous transfer robot can be operated based on the communication from the control device and can communicate with the control device. It may be configured as such.
  • the route setting function and the traveling control function are executed by one control device.
  • the configuration in which the carriage 2 and the autonomous transfer robot 3 are connected by accommodating the shaft member 331 of the autonomous transfer robot 3 in the bearing member 25 of the carriage 2 has been described as an example.
  • the method of connecting the carriage and the autonomous transfer robot is not particularly limited, and may be, for example, a coupling by fitting, a coupling by screwing, a coupling by magnetic force, or the like.
  • the coupled portion is rotatable, the direction in which the trolley travels can be freely changed, which is preferable.
  • the configuration in which the autonomous transfer robot 3 includes the instrument unit 34 including the speedometer 341, the angle meter 342, and the camera 343 has been described as an example.
  • the type of instrument provided in the autonomous transfer robot in the present invention is not limited to the above example.
  • a global positioning hygiene system (GNSS) terminal, a laser cube, a gyro sensor, or the like may be provided.
  • GNSS global positioning hygiene system
  • the configuration in which the assumed route of the autonomous transfer robot 3 is set by the route setting function of the control device 35 and the traveling along the assumed route is realized by the traveling control function of the control device 35 has been described as an example. ..
  • the method of controlling the traveling path of the autonomous transfer robot is not particularly limited.
  • a derivative indicating a traveling route may be provided in the factory so that the autonomous transfer robot travels along the derivative.
  • the bogie may not be provided with a brake.
  • the brake may be configured to operate independently of the coupled state of the trolley and the autonomous transfer robot.
  • the present invention can be used, for example, in a transport system for transporting a vehicle body to be painted in a painting factory.
  • Conveyance system 2 Cart 21: Frame 22: Middle rail 23: Wheel 24: Braking device 241: Braking rod 242: Braking plate 243: Interlocking mechanism 243a: Pin 243b: First rod-shaped member 243c: First support member 243d: No. Two-bar member 243e: Second support member 243f: Spring member 243g: Connection part 25: Bearing member 3: Autonomous transfer robot 31: Drive device 311: Motor 312: Drive wheel 32: Caster 33: Shaft member unit 331: Shaft member 332 : Motor 34: Instrument unit 341: Speed meter 342: Angle meter 343: Camera 35: Control device 36: Battery 37: Housing B: Body C: Friction conveyor T: Tunnel type painting booth

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de transport comprenant un chariot (2) qui peut charger une carrosserie de véhicule B, et au moins deux robots de transport autonomes (3A, 3B) qui peuvent être reliés au chariot (2). Lorsque le chariot (2) et les deux robots de transport autonomes (3A, 3B) sont reliés l'un à l'autre, le chariot (2) et les robots de transport autonomes (3A, 3B) peuvent se déplacer en une seule unité sous l'effet des forces d'entraînement des robots de transport autonomes (3A, 3B).
PCT/JP2020/046343 2020-12-11 2020-12-11 Système de transport WO2022123782A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020569915A JP6991372B1 (ja) 2020-12-11 2020-12-11 搬送システム
PCT/JP2020/046343 WO2022123782A1 (fr) 2020-12-11 2020-12-11 Système de transport

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/046343 WO2022123782A1 (fr) 2020-12-11 2020-12-11 Système de transport

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WO2022123782A1 true WO2022123782A1 (fr) 2022-06-16

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04339068A (ja) * 1991-01-18 1992-11-26 Suzuki Motor Corp 搬送装置
JP2010055415A (ja) * 2008-08-28 2010-03-11 Hitachi Industrial Equipment Systems Co Ltd ロボットシステム
JP2011216007A (ja) * 2010-04-01 2011-10-27 Gen Inc 搬送台車システム
JP2012121650A (ja) * 2010-12-07 2012-06-28 Daifuku Co Ltd 牽引車利用の台車式搬送装置
US20130035783A1 (en) * 2011-08-05 2013-02-07 Gm Global Technology Operations Llc. Moving stop station for robotic assembly
JP2017053082A (ja) * 2015-09-07 2017-03-16 Ｉｈｉ運搬機械株式会社 車両搬送装置及び方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04339068A (ja) * 1991-01-18 1992-11-26 Suzuki Motor Corp 搬送装置
JP2010055415A (ja) * 2008-08-28 2010-03-11 Hitachi Industrial Equipment Systems Co Ltd ロボットシステム
JP2011216007A (ja) * 2010-04-01 2011-10-27 Gen Inc 搬送台車システム
JP2012121650A (ja) * 2010-12-07 2012-06-28 Daifuku Co Ltd 牽引車利用の台車式搬送装置
US20130035783A1 (en) * 2011-08-05 2013-02-07 Gm Global Technology Operations Llc. Moving stop station for robotic assembly
JP2017053082A (ja) * 2015-09-07 2017-03-16 Ｉｈｉ運搬機械株式会社 車両搬送装置及び方法

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JPWO2022123782A1 (fr) 2022-06-16

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